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<title>ProMRDS Chapter 6 - Extending the Simulation Environment</title>
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<p class="heading"><span class="smallhead">Professional</span><br />&nbsp;&nbsp;&nbsp;Microsoft Robotics Developer Studio<br />
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<h1>Chapter 6 - Extending the MRDS Visual Simulation Environment</h1>

<h2>Summary</h2>
<p>
This chapter shows how to add your own custom entities and services to the simulation environment.
It defines a new four-wheel-drive robot with a camera and IR distance sensors along with the
services needed to drive the motors and read the sensor values. This robot is based on the
<a href="http://www.corobot.net">CoroBot</a> from CoroWare.
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<h2>Contents</h2>
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This chapter contains several projects:
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<ul>
<li>Simulated Corobot</li>
<li>Simulated Quad Differential Drive</li>
<li>Simulated Infrared Sensor</li>
</ul>
<p>
As you can see from the screenshot below, the simulated
CoroBot looks a lot like a real CoroBot (photo courtesy
of CoroWare).
It has four wheels, a webcam mounted at the
front, and front and rear Infrared sensors. You can see
the IR sensor impact points (red dots) on the wall behind the robot.
In reality, you cannot see infrared, but this visualization
makes it easier during testing.
</p>
<a href="Images/CoroBot-Sim.jpg"><img src="Images/CoroBot-Sim_small.jpg" border="0" alt="Simulated CoroBot" /></a>&nbsp;&nbsp;<a href="Images/CoroBot_big.jpg"><img src="Images/CoroBotReal.jpg" border="0" alt="Real CoroBot" /></a>

<h2>Legal Stuff</h2>
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This code is available free of charge for non-commercial use.
Please see the <a href="../Licence.htm">Licence Agreement</a>.
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